diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 5321ce5fff..672a99bd4c 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -39,6 +39,7 @@
 #define HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ   1021
 #define HAL_BOARD_SUBTYPE_LINUX_POCKET     1022
 #define HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR  1023
+#define HAL_BOARD_SUBTYPE_LINUX_VNAV       1024
 
 /* HAL CHIBIOS sub-types, starting at 5000
 
diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index 9f9c28c947..b9a7d09d0d 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -80,6 +80,14 @@
     #define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
     #define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
     #define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor::Type::BEBOP
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
+    // linux SBC with VectorNav AHRS
+    #define HAL_EXTERNAL_AHRS_DEFAULT 1
+    #define HAL_SERIAL3_PROTOCOL 36
+    #define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
+    #define HAL_AIRSPEED_TYPE_DEFAULT 0
+    #define HAL_GPS_TYPE_DEFAULT 21
+    #define HAL_AHRS_EKF_TYPE_DEFAULT 11
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
     #define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
     #define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"